This class implements a TaskContext which construct an interface to the automated Laser initialising a link to the digital IO PCI cards. More...
#include <LaserDistance.hpp>
Public Member Functions | |
| LaserDistance (std::string name, unsigned int nr_chan, std::string propertyfilename="cpf/LaserDistance.cpf") | |
| Constructor of the class. | |
| virtual bool | startup () |
| virtual void | update () |
| virtual void | shutdown () |
Protected Attributes | |
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RTT::Property< std::vector < double > > | _simulation_values |
| values which should be used in simulation | |
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RTT::Property< std::vector < double > > | _volt2m |
| Conversion factor from volts to meters. | |
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RTT::Property< std::vector < double > > | _offsets |
| Offset of measurement in meters. | |
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RTT::Property< std::vector < double > > | _lowerLimits |
| lower limits of measurements, fires _distanceOutOfRange event | |
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RTT::Property< std::vector < double > > | _upperLimits |
| upper limits of measurements, fires _distanceOutOfRange event | |
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RTT::WriteDataPort < std::vector< double > > | _distances |
| Dataport which contains the measurements. | |
| RTT::Event< void(int, double)> | _distanceOutOfRange |
| Event which is fired if the distance is out of range. | |
This class implements a TaskContext which construct an interface to the automated Laser initialising a link to the digital IO PCI cards.
It can also be used in simulation if the comedi-device drivers were not available during compilation of orocos.
Definition at line 47 of file LaserDistance.hpp.
| LaserDistance | ( | std::string | name, | |
| unsigned int | nr_chan, | |||
| std::string | propertyfilename = "cpf/LaserDistance.cpf" | |||
| ) |
Constructor of the class.
| name | name of the TaskContext | |
| nr_chan | nr of channels that should be read | |
| propertyfilename | location of the propertyfile. Default: cpf/LaserDistance.cpf |
Definition at line 31 of file LaserDistance.cpp.
References LaserDistance::_distanceOutOfRange, LaserDistance::_distances, LaserDistance::_lowerLimits, LaserDistance::_offsets, LaserDistance::_simulation_values, LaserDistance::_upperLimits, and LaserDistance::_volt2m.
1.6.3